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CN102598129A - Positioning coarse servo actuator of tape servo system to allow fine servo actuator to follow tape shift excursions - Google Patents

Positioning coarse servo actuator of tape servo system to allow fine servo actuator to follow tape shift excursions Download PDF

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CN102598129A
CN102598129A CN 201080048970 CN201080048970A CN102598129A CN 102598129 A CN102598129 A CN 102598129A CN 201080048970 CN201080048970 CN 201080048970 CN 201080048970 A CN201080048970 A CN 201080048970A CN 102598129 A CN102598129 A CN 102598129A
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actuator
servo
tape
fine
position
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CN 201080048970
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Chinese (zh)
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CN102598129B (en )
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A·J·亚古门多
A·潘塔兹
N·X·布伊
R·A·汉库克
R·J·贾斯托
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国际商业机器公司
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    • GPHYSICS
    • G11INFORMATION STORAGE
    • G11BINFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
    • G11B5/00Recording by magnetisation or demagnetisation of a record carrier; Reproducing by magnetic means; Record carriers therefor
    • G11B5/48Disposition or mounting of heads or head supports relative to record carriers ; arrangements of heads, e.g. for scanning the record carrier to increase the relative speed
    • G11B5/58Disposition or mounting of heads or head supports relative to record carriers ; arrangements of heads, e.g. for scanning the record carrier to increase the relative speed with provision for moving the head for the purpose of maintaining alignment of the head relative to the record carrier during transducing operation, e.g. to compensate for surface irregularities of the latter or for track following
    • G11B5/584Disposition or mounting of heads or head supports relative to record carriers ; arrangements of heads, e.g. for scanning the record carrier to increase the relative speed with provision for moving the head for the purpose of maintaining alignment of the head relative to the record carrier during transducing operation, e.g. to compensate for surface irregularities of the latter or for track following for track following on tapes

Abstract

Methods, servo systems, and data storage drives follow the lateral shift excursions of longitudinal tape, for example, from flangeless tape guides. A servo sensor is configured to sense lateral position of a tape head with respect to longitudinal servo tracks of the tape, a fine actuator is configured to translate the head laterally, and a coarse actuator is configured to translate the fine actuator laterally. Position error is determined between the head and a desired position related to the servo track, and the fine actuator operated to translate the head laterally to reduce the position error. In the embodiment, lateral shift excursion is sensed from the position error, and the coarse actuator is positioned substantially at a midpoint of the lateral shift excursion. Thus, the fine actuator follows the lateral shift excursions, while the coarse actuator remains at the midpoint.

Description

定位磁带伺服系统的粗伺服致动器以允许精细伺服致动器 The rough servo system to position the tape servo actuator to permit fine servo actuator

跟随磁带移位偏移 Follow shift offset Tape

技术领域 FIELD

[0001] 本发明涉及用于在纵向上移动的纵向磁带的伺服系统,并且更具体地,涉及用于随着磁带在横向上移位而跟随定义于纵向磁带上的纵向伺服轨道的轨道跟随伺服系统。 [0001] The present invention relates to servo systems for longitudinal movement of the tape in the longitudinal direction, and, more particularly, to a tape as to follow displacement in the transverse direction to the longitudinal defined servo track of the magnetic tape longitudinal track following servo system.

背景技术 Background technique

[0002] 用于诸如磁性带之类的纵向磁带的伺服系统的功能是,例如在磁头的读/写操作期间,在纵向磁带的横向上移动磁头以便准确地跟随磁带的横向移动。 [0002] a function of the servo system such as a magnetic tape longitudinal tape or the like, for example, in the read head / write during operation, moves the head in the horizontal and vertical magnetic tape in order to accurately follow the lateral movement of the tape. 如果准确地完成,则数据轨道随着磁带在纵向上移动而沿着纵向磁带以直线被写入和读取。 If done accurately, the data tracks as the tape is moved in the longitudinal written and read in a straight line along the longitudinal tape. 就磁性带而言,数据包括磁性带的纵向上的平行条带(stripe)。 On magnetic tape, the data comprises parallel strips (stripe) in the longitudinal direction of the magnetic tape. 伺服轨道平行于预期数据条带并与其偏离地预录在磁性带中。 Servo tracks parallel to the expected data strip and offset from the pre-recorded on the magnetic tape. 通常,磁性带的横向移动受到存在于磁头任一侧的磁带引导件上的凸缘(flange)的约束,从而使伺服系统致使磁头在有干扰存在的情况下跟随数据条带,所述干扰主要因磁带的被称为LTM(横向磁带运动)的受限横向运动而产生。 Typically, the lateral movement of the magnetic tape is constrained by a flange (Flange) on the tape guide member is present in the head on either side, so that the servo system causes the head to follow the data strips in the presence of interference, the interference is mainly the LTM is referred to by the tape (lateral tape motion) generated by restricted lateral movement.

[0003] 伺服系统经常采用复合式致动器来横向地移动磁头,以便进行轨道跟随,以及从一个伺服轨道(或者一组伺服轨道)向另一个进行移位并且跟随不同的一组数据条带。 [0003] The servo systems often employ compound actuators to laterally move the head, for track following, and shifting from one servo track (or a set of servo track) to another and follow a different set of data strip . 复合式致动器包括粗致动器和安装在粗致动器上的精细致动器,该复合式致动器同时提供大的工作动态范围和高带宽。 Compound actuator includes a coarse actuator and a fine actuator mounted on the coarse actuator on the fine actuator, the actuator composite while providing a large working dynamic range and high bandwidth. 高带宽精细致动器通常具有有限的行程范围以获得高带宽,并且在以精细致动器作为主动装置并且以粗致动器作为对于精细致动器的移动的从动装置的典型的轨道跟随布置中,如果精细致动器随着磁带横向移动而漂移到一侧,则粗致动器(以较慢速率)跟随精细致动器的移动的中心线。 High bandwidth precision fine actuator typically have a limited range of travel in order to obtain a high bandwidth, and to fine the fine actuator as an active device and to the coarse actuator for track following as typical fine movement of the fine actuator slave device arrangement, if the tape with fine fine actuator moves laterally drift to one side, then the coarse actuator (a slower rate) of the fine actuator follows the fine movement of the center line.

[0004] 磁带引导件的凸缘,诸如辊(roller),对磁带的横向移动做出限制,但可能倾向于折曲磁带并且引起凸缘的碎屑积聚,而这会影响磁带的寿命并且此外产生不期望的动态效应。 The flange [0004] The tape guide member, such as a roller (Roller), lateral movement of the tape to make limited, but may be inclined to folded tape and cause the accumulation of debris of the flange, which will affect the life of the magnetic tape and in addition undesirable dynamic effects.

[0005] 无凸缘磁带引导件倾向于解决有凸缘磁带引导件的问题,但是由于不受约束,纵向磁带倾向于迅速地从磁带引导件的一侧移位到另一侧,并且仅在引导件的一侧上行进很短的时段。 [0005] flangeless tape guides tend to solve the tape guide flange problem, but because unconstrained longitudinal tape tends to rapidly displaced from one side of the tape to the other side of the guide member, and only traveling a short period of time on the side of the guide member. 因此,为了尝试从一侧到另一侧跟随磁带,粗致动器在跟随精细致动器的移动的中心线的过程中需要随着磁带迅速移位而从一侧向另一侧移动。 Accordingly, in order to try to follow the tape from one side of the other side, in the need to move from the crude side to side with the center line of the tape during the rapid displacement the actuator following the movement of the fine detail of the actuator. 这种运动倾向于损耗并缩短粗致动器的寿命,并且是粗致动器对功率的使用。 This movement and loss tends to shorten the life of the coarse actuator and the coarse actuator is used to power the actuators.

发明内容 SUMMARY

[0006] 在第一方面,本发明提供一种操作伺服系统的方法,用于横向地定位磁头使其跟随具有至少一个在纵向上定义的伺服轨道的纵向磁带的横向运动,所述伺服系统包括:伺服传感器,配置用于感测所述磁头相对于定义的伺服轨道的横向位置;精细致动器,配置用于相对于所述纵向磁带横向地平移所述磁头;粗致动器,配置用于相对于所述纵向磁带横向地平移所述精细致动器;以及位置误差信号回路,配置用于感测所述伺服传感器,用于确定所述磁头与有关于所述至少一个定义的伺服轨道的期望位置之间的位置误差,以及用 [0006] In a first aspect, the present invention provides a method of operating a servo system for positioning a magnetic head laterally so as to follow the longitudinal movement of the tape having lateral servo track in the longitudinal direction on at least one defined, said servo system comprising : servo sensor configured for sensing a lateral position of said head relative to the servo track defined; fine fine actuator configured to laterally with respect to the longitudinal tape translating said head; coarse actuator configured with to translate transversely with respect to the longitudinal direction of said magnetic tape fine fine actuator; and a position error signal circuit, configured to sense said servo sensor to determine the magnetic head with respect to the servo track has at least one defined a desired position between the position error, and by

4于操作所述精细致动器以按照使所述确定的位置误差减小的方式横向地平移所述磁头,该方法包括:从所述位置误差信号回路感测所述至少一个定义的伺服轨道的横向移位偏移(shift excursion);以及操作所述粗致动器以将所述粗致动器基本上定位在所述至少一个定义的伺服轨道的所述横向移位偏移的中点处。 4 to the finishing operation as to the fine actuator according to the determined position error decreases laterally translate the magnetic head, the method comprising: servo track error from the position sensing signal of the sensing circuit at least one defined lateral shift offset (shift excursion); and operating the midpoint of the coarse actuator to the coarse actuator is positioned substantially at said at least one defined servo track a lateral shift offset place.

[0007] 优选地,所述感测步骤包括感测由所述位置误差信号回路在操作所述精细致动器以横向平移所述磁头的过程中所采用的电流信号,以便感测所述至少一个定义的伺服轨道的横向移位偏移。 [0007] Preferably, said sensing step comprises sensing the position error signal by a loop to the lateral translation of a current signal of the magnetic head used in the process, so as to sense in operation said fine actuator at least the fine lateral definition of a servo track shift offset. 优选地,所述感测步骤包括感测由所述位置误差信号回路在操作所述精细致动器以横向平移所述磁头的过程中所采用的位置误差信号的积分函数。 Preferably, said sensing step includes an integral function of the position error signal from the position error signal loop operation in the finishing of the fine actuator to translate the magnetic head laterally employed during sensing. 优选地,用无凸缘磁带引导件来相对于所述磁头引导所述磁带,使得所述横向移位偏移大于所述精细致动器的单向行程,并且其中所述粗致动器操作步骤包括操作所述粗致动器以对所述粗致动器进行定位从而使所述精细致动器能够到达所述至少一个定义的伺服轨道的所述横向移位偏移的全部两侧。 Preferably, flange-free tape guides relative to the magnetic head to the magnetic tape guide, such that the lateral displacement stroke of the fine offset is greater than the one-way fine actuator, and wherein operating said coarse actuator comprising the step of operating the coarse actuator to the coarse actuator such that the fine positioning of the fine actuator can reach all sides of said servo track of said at least one defined lateral shift offset. 该方法可以附加地包括存储所述纵向磁带的所述确定的横向移位偏移的所述确定的中点位置;以及将所述存储的中点位置与所述纵向磁带的标识相关联。 The method may additionally comprise the midpoint of the lateral shift offset determined by said determining said longitudinal magnetic tape storage; and identifying the stored neutral position of the associated longitudinal tape.

[0008] 在第二方面,提供一种伺服系统,其被配置用于相对于纵向磁带的至少一个定义的伺服轨道横向地定位磁头,该伺服系统包括:伺服传感器,用于感测所述磁头相对于所述纵向磁带的至少一个定义的伺服轨道的横向位置;精细致动器,配置用于相对于所述纵向磁带横向地平移所述磁头;粗致动器,配置用于相对于所述纵向磁带横向地平移所述精细致动器;以及伺服控制装置,配置用于感测所述伺服传感器,用于确定所述磁头与有关于所述至少一个定义的伺服轨道的期望位置之间的位置误差,用于提供信号以便操作所述精细致动器以按照使所述确定的位置误差减小的方式横向地平移所述磁头,用于根据所述提供的信号来感测所述至少一个定义的伺服轨道的横向移位偏移,以及用于操作所述粗致动器以将所述粗致动器基本上定位在所述至少一个定 [0008] In a second aspect, there is provided a servo system, which is configured to define at least one servo track of the magnetic head is positioned transversely with respect to the longitudinal direction of the tape, the servo system comprising: a servo sensor for sensing the magnetic head transverse position relative to at least one defined servo track of the magnetic tape in the longitudinal direction; fine fine actuator configured to laterally with respect to the longitudinal tape translating said head; coarse actuator, arranged relative to said translating the tape longitudinally laterally fine fine actuator; and a servo control means arranged to sense said servo sensor for determining between the head and the desired position about the at least one servo track is defined position error to provide a signal to operate said actuator to fine finishing in accordance with the manner of determining position error decreases laterally translate the magnetic head, sensing means for sensing said supplied signals according to at least one defined servo track lateral shift offset, and means for operating said coarse actuator to the coarse actuator is positioned at least substantially a constant 义的伺服轨道的所述横向移位偏移的中点处。 The defined servo track at the midpoint of the lateral displacement deviation.

[0009] 优选地,所述感测到的提供的信号包括电流信号,该电流信号用来操作所述精细致动器以横向地平移所述磁头。 [0009] Preferably, the sensed signal includes a current signal, the current signal for operating said fine fine actuator to laterally translate the magnetic head. 优选地,所述感测到的提供的信号包括被用来操作所述精细致动器以对所述磁头进行横向平移的位置误差信号的积分函数。 Preferably, the sensed signal is provided to a position error signal comprises a lateral translation of the head integral function is used to operate the fine fine actuator. 优选地,用无凸缘磁带引导件来相对于所述磁头引导所述磁带,使得所述横向移位偏移大于所述精细致动器的单向行程,并且其中所述伺服控制装置被配置用于操作所述粗致动器以对所述粗致动器进行定位从而使所述精细致动器能够到达所述至少一个定义的伺服轨道的所述横向移位偏移的全部两侧。 Preferably, flange-free tape guides relative to the magnetic head to the magnetic tape guide, such that the lateral displacement stroke of the fine offset is greater than the one-way fine actuator, and wherein said servo control means is configured for operating the coarse actuator to the coarse actuator such that the fine positioning of the fine actuator can reach all sides of said servo track of said at least one defined lateral shift offset.

[0010] 伺服系统可以附加地配置用于存储所述纵向磁带的所述确定的横向移位偏移的所述确定的中点位置;以及将所述存储的中点位置与所述纵向磁带的标识相关联。 [0010] The neutral position of the shift offset laterally determining the servo system may additionally be configured to store the determined longitudinal tape; and storing said neutral position to said longitudinal tape identity associated.

[0011] 可以提供形式为数据存储驱动器的实施方式,其包括:磁头,配置用于在纵向磁带数据存储介质上记录和读取数据;驱动器,配置用于在纵向上相对于所述磁头移动所述纵向磁带数据存储介质;以及根据第二方面的伺服系统。 [0011] Embodiment may be provided in the form of a data storage drive, comprising: a magnetic head, disposed in the longitudinal tape for data recording and reading a data storage medium; driver configured for longitudinal movement relative to the head said longitudinal tape data storage medium; and a servo system of the second aspect.

[0012] 因此,方法、伺服系统和数据存储驱动器被配置用于跟随纵向磁带的横向移位偏移。 [0012] Thus, methods, and data storage drive servo system is configured to follow the lateral shift offset longitudinal tape.

[0013] 在一个实施方式中,用于横向地定位磁头以跟随具有至少一个纵向定义的伺服轨道的纵向磁带的横向运动的伺服系统包括:伺服传感器,配置用于感测磁头相对于定义的伺服轨道的横向位置;精细致动器,配置用于相对于纵向磁带横向地平移磁头;粗致动器, 配置用于相对于纵向磁带横向地平移精细致动器;以及位置误差信号回路,配置用于对伺服传感器进行感测。 [0013] In one embodiment, a method for laterally positioning the head to follow the longitudinal tape having at least one longitudinal servo track defined by lateral movement of the servo system comprising: a servo sensor, configured to sense the magnetic head with respect to the defined servo the lateral position of the track; fine fine actuator with respect to the longitudinal tape configured to translate the magnetic head laterally; coarse actuator, with respect to the longitudinal tape configured to translate laterally fine fine actuator; and a position error signal loop, with the configuration to the servo sensor sensing. 伺服系统确定磁头与有关于定义的伺服轨道的期望位置之间的位置误差,并且操作精细致动器以按照使确定的位置误差减小的方式横向地平移磁头。 Determining a position error between the servo head and the desired position on the servo track with a defined and detailed operation of the fine actuator to determine the manner that the position error is reduced laterally translate the magnetic head.

[0014] 在该实施方式中,伺服系统从位置误差信号回路感测定义的伺服轨道的横向移位偏移;并且操作粗致动器以便将粗致动器基本上定位在定义的伺服轨道的横向移位偏移的中点处。 [0014] In this embodiment, the servo system the servo track shift offset from the lateral position error sensing loop signals defined; and operates the coarse actuator to the coarse actuator is positioned substantially at the defined servo tracks at the midpoint of the lateral displacement deviation.

[0015] 在进一步实施方式中,感测步骤包括感测由位置误差信号回路在操作精细致动器以横向地平移磁头的过程中所采用的电流信号,以便感测定义的伺服轨道的横向移位偏移。 [0015] In a further embodiment, the sensing step comprises lateral sensing servo tracks by the position error signal loop to a current signal process translate laterally magnetic head used to sense defined in the operation of the fine fine actuator shift bit offset.

[0016] 在另一实施方式中,感测步骤包括感测由位置误差信号回路在操作精细致动器以横向地平移磁头的过程中所采用的位置误差信号的积分函数。 [0016] In another embodiment, the sensing step includes an integral function of the sensed position error signal from the position error signal during operation of the fine loops of the fine actuator to translate the magnetic head laterally employed.

[0017] 在其中用无凸缘磁带引导件相对于磁头对磁带进行引导使得横向移位偏移大于精细致动器的单向行程的又一实施方式中,粗致动器操作步骤包括操作粗致动器以对粗致动器进行定位,以使精细致动器能够到达定义的伺服轨道的横向移位偏移的全部两侧。 [0017] in which a flangeless tape head with respect to the guide member for guiding the tape such that the lateral shift offset larger than a further embodiment the fine fine actuator stroke in one way, the coarse operation step includes a coarse actuator operation actuator coarse positioning actuator, the fine actuator to the finish can reach all sides of the servo track defined lateral shift offset.

[0018] 在另一实施方式中,伺服系统确定纵向磁带相对于磁头的横向移位偏移;根据所确定的横向移位偏移来确定纵向磁带的经确定的横向移位偏移的中点位置;以及操作粗致动器以将粗致动器基本上定位在中点位置。 [0018] In another embodiment, the servo system is determined with respect to the longitudinal tape head laterally shift offset; determining the longitudinal midpoint of the tape the determined lateral displacement shift offset laterally shifted according to the determined position; and operating the coarse actuator to the coarse actuator is positioned substantially at the midpoint position.

[0019] 在进一步实施方式中,存储纵向磁带的所确定的横向移位偏移的经确定的中点位置并且将其与纵向磁带的标识相关联。 [0019] In a further embodiment, the storage position of the midpoint of the determined lateral offset of the longitudinal displacement of the tape and the determined identity with the associated longitudinal tape. 因此,当再次加载磁带时可将所确定的中点位置用于磁头的初始定位。 Thus, when the tape is loaded again to the neutral position determined for the initial positioning of the magnetic head.

[0020] 在又一实施方式中,伺服系统确定位置误差信号的DC分量的最大正值;确定位置误差信号的DC分量的最大负值;以及确定粗致动器的中点位置,在此处DC分量的最大正值与DC分量的最大负值基本上相等。 [0020] In yet another embodiment, the servo system to determine the maximum value of the DC component of the position error signal; determining the maximum negative value of the DC component of the position error signal; and determining the neutral position of the coarse actuator, where substantially equal to the maximum positive and maximum negative DC component DC component.

[0021] 在进一步实施方式中,伺服系统将粗致动器保持在基本上处于中点位置处,并且操作位置误差信号回路和精细致动器以便减小位置误差信号回路所确定的位置误差。 [0021] In a further embodiment, the servo system coarse actuator is maintained substantially at a midpoint position, and the operation circuit and a fine position error signal so as to reduce the fine actuator position error signal loop position error determined.

附图说明 BRIEF DESCRIPTION

[0022] 现在将参考附图,仅以示例的方式描述本发明的优选实施方式,在附图中: [0022] Referring now to the drawings, preferred embodiments of the present invention is described by way of example, in the accompanying drawings in which:

[0023] 图1是示例性磁性带数据存储驱动器的局部剖视图,该磁性带数据存储驱动器可以实现本发明的各个方面; [0023] FIG. 1 is a partial cross-sectional view of an exemplary magnetic tape data storage drive, the magnetic tape data storage drives can implement various aspects of the invention;

[0024] 图2是图1的数据存储驱动器移除封盖时的示图; [0024] FIG. 2 is a schematic view of a data storage drive of FIG. 1, a removable closure;

[0025] 图3是图1的纵向磁带、磁带磁头和伺服系统的图解示图; [0025] FIG. 3 is a longitudinal tape, the tape head and a diagrammatic representation of one of the servo system;

[0026] 图4是图1的数据存储驱动器的磁性带磁头和复合式致动器的示图; [0026] FIG. 4 is a diagram of a data storage drive with a magnetic head and a composite actuator shown in FIG 1;

[0027] 图5是图4的磁性带磁头和复合式致动器的局部剖视图; [0027] FIG. 5 is a view of the magnetic tape and the magnetic head 4 a partial sectional view of a hybrid actuator;

[0028] 图6是图3的伺服系统的实施方式的框图; [0028] FIG. 6 is a block diagram of an embodiment of the servo system of Figure 3;

[0029] 图7和图8是图6的伺服系统的补偿器的示例信号的图示;以及 [0029] FIG 7 and FIG 8 is a diagram illustrating an example of a servo signal compensation system of Figure 6; and

[0030] 图9是描绘本发明的方法的实施方式的流程图。 [0030] FIG. 9 is a flowchart of a method embodiment of the present invention is depicted. 具体实施方式 detailed description

[0031] 参考附图,在以下描述的优选实施方式中对本发明做出描述。 [0031] Referring to the drawings, in the preferred embodiment described below, a description of the present invention. 在附图中,相似编号表示相同或相似元件。 In the drawings, like numerals represent the same or similar elements. 虽然从用于实现本发明目标的最佳模式方面描述了本发明,但本领域中技术人员应当明白,可以鉴于这些教导来实现各种变体而不偏离本发明的范围。 Although the present invention for achieving the best modes from the object of the present invention, those skilled in the art will appreciate that, in view of these teachings can be implemented without departing from the scope of the various variations of the present invention.

[0032] 图1和图2图示了磁性带数据存储驱动器10,其向包含磁性带数据存储介质11的纵向磁带写入数据18并从中读取数据。 [0032] Figures 1 and 2 illustrate a magnetic tape data storage drive 10, which writes data to the longitudinal tape 18 comprises a magnetic tape data storage medium 11 and reads data therefrom. 如本领域中技术人员所理解的,磁性带数据存储驱动器亦称为磁性带驱动器或者磁带驱动器,其可以采取各种形式中的任何形式。 As those skilled in the art will appreciate, magnetic tape data storage drive also known as a magnetic tape drive or a tape drive, which may take any of various forms. 图示的磁性带驱动器10沿着从磁性带数据存储盒13中的供带盘12到卷带盘14的磁带纵向上的磁带路径移动磁性带11。 The illustrated drive 10 with a magnetic tape 11 along a tape path on the magnetic tape 14 is moved longitudinally of the belt 13 from the supply reel magnetic tape data storage cartridge 12 to the take-up reel magnetic. 磁性带驱动器的一个示例是IBM® LTO (线性磁带开放)磁性带驱动器。 One example of a magnetic tape drive is the IBM® LTO (Linear Tape Open) magnetic tape drive. 磁性带驱动器的另一示例是IBM® jTotalStorage Enterprise磁性带驱动器。 Another example of a magnetic tape drive is the IBM® jTotalStorage Enterprise magnetic tape drive. 上述磁性带驱动器示例都采用单盘磁带盒13。 The magnetic tape drive are exemplary single tape cartridge 13. 备选的磁性带驱动器和磁性带盒为双盘盒及驱动器,在其中卷盘12和14都被包含在盒中。 Alternatively, magnetic tape drive and a magnetic tape cartridge and cartridge drive to Double, in which the reels 12 and 14 are contained in the cartridge.

[0033] 磁性带介质11跨磁带磁头65在纵向上移动。 [0033] 11 a magnetic tape medium across the magnetic tape head 65 moves in the longitudinal direction. 磁带磁头可由轨道跟随伺服系统的复合式致动器17来支承以及横向地移动。 Tape head actuator 17 is supported by the track following servo system and move laterally composite. 当磁性带介质纵向移动时,磁性带介质由辊磁带引导件50、51、52、53来支承,这些辊磁带引导件是无凸缘的。 When the longitudinal movement of the magnetic tape media, magnetic tape media is supported by the roller 50,51, 52,53 tape guides, the tape guide members are rollers flangeless.

[0034] 典型的磁性带数据存储驱动器在正向和反向这两个方向上操作以便读取和写入数据。 [0034] Typical data for reading and writing magnetic tape data storage drive operation in both the forward and reverse directions. 因此,磁性带磁头65可以包括用于在正向上进行操作的一组读取和写入元件以及用于在反向上进行操作的另一组,或者备选地,可以在写入元件的任一侧上具有两组读取元件,以便允许相同的写入元件在全部两个方向上写入,而同时两组读取元件允许在全部两个方向上的写后读取。 Thus, the magnetic tape head 65 may include a set of read and write operations of the elements in the forward and the other for operating in the reverse direction, or alternatively, may be in any of a writing element after having read the read element groups, so as to allow the writing element writes the same in both directions, while the two read element allows writing in all directions on the two sides.

[0035] 磁性带数据存储驱动器10包括一个或多个控制装置20用于依据从外部系统接收的命令对磁性带数据存储驱动器进行操作。 [0035] The magnetic tape data storage drive 10 comprises one or more control devices 20 according to commands received from an external system on the magnetic tape data storage drive to operate. 如本领域中技术人员所知,外部系统可以包括网络、主机系统、数据存储库或自动化系统、数据存储子系统等。 As known to those skilled in the art, the external system may include a network, a host system, data store, or automated systems, data storage subsystems. 控制装置通常包括逻辑和/ 或具有存储器19的一个或多个微处理器,该存储器19用于存储信息和用以操作一个或多个微处理器和驱动器的程序信息。 The control device typically comprises logic and / or one or more microprocessors with memory 19, the memory 19 for storing information and for operating one or more microprocessors and drives the program information. 程序信息可以经由接口21,通过诸如软盘或光盘之类的到控制装置20的输入,或者通过从磁性带盒读取,或者通过任何其他适当方式来供应给存储器。 The program information via the interface 21, such as a floppy disk or via the optical disk controller 20 is input, or read from the magnetic tape by cassette, supplied to the memory or in any other suitable manner. 磁性带数据存储驱动器10可以包括独立单元或者包括磁性带库或其他子系统的一部分,这可以包括外部系统。 The magnetic tape data storage drive 10 may include a stand-alone unit or comprise part of the magnetic tape library, or other subsystems, which may include an external system. 如本领域中技术人员所知,控制装置20还提供数据流以及针对待从磁性带介质读取或向其写入的数据的格式化器。 As known to those skilled in the art, the control means 20 and further provide a data stream formatter for data to be read from or write to a magnetic tape medium is.

[0036] 盒接收器39被配置用于接收定向在单一方向上的磁性带盒13,以及例如用导销41将磁性带盒相对于盒接收器对齐。 [0036] The cartridge receiver 39 is configured to receive oriented in a single direction of the magnetic tape cassette 13, and the guide pin 41, for example, the magnetic tape cartridge relative to the cartridge receiver alignment. 可以在盒自身上,例如由盒上的箭头42来图示正确的定向。 On the cartridge itself can be, for example, by the arrow on the cartridge 42 is illustrated correct orientation. 如本领域技术人员所知,正确的定向可以通过盒的特定形状或者借助于各种与接收器相互作用的槽口而强制实现。 As those skilled in the art, the correct orientation can be achieved by the particular shape of the cartridge to force or by means of the various notches and the receiver interact. 磁性带盒的定向使得磁性带11在盒接收器的指定点处离开盒。 Such that the magnetic orientation of the magnetic tape cassette at a specified point in the cartridge receiver 11 away from the cassette. 引带(tape threading)机构例如可以将磁性带11的自由端从磁性带盒13向卷带盘14移动,从而将自由端引头块定位在卷带盘的中轴75处。 Leader tape (tape threading) mechanism may be, for example, the free end 11 of the magnetic tape from the magnetic tape cartridge 13 moves to the take-up reel 14, so that the free end of the leader block is positioned at the central axis 75 of the reel. 磁性带因此而沿磁带路径定位。 Thus the magnetic tape positioned along the tape path.

[0037] 在所示实施方式中,无凸缘磁带引导辊50、51、52和53各自具有圆柱形表面80、 81、82、83,该圆柱形表面定向用于为磁性带11提供跨磁性带磁头65的磁带路径。 [0037] In the illustrated embodiment, the flangeless tape guide rollers 51, 52 and 53 each have a cylindrical surface 80, 81, 82, the cylindrical surface 11 is oriented to provide a magnetic tape across the magnetic with the head 65 of the tape path.

[0038] 磁带路径包括至少一个定位在磁性带盒13与磁性带磁头65之间的无凸缘磁带引导辊50,并且可以包括处于磁性带磁头65任一侧的至少一个无凸缘辊磁带引导件50、 51。 [0038] The tape path includes at least one positioning in the magnetic tape cassette 13 with no tape between the flanges 65 of the magnetic head with the guide roller 50, and may comprise any of a magnetic tape head 65 in at least one side of the tape guide roll flangeless 50, 51. 根据磁性带路径的长度和/或复杂度,可以提供附加的磁带引导辊或者其他类型的引导件,并且优选地包括无凸缘磁带引导辊,诸如磁带引导辊52和53。 The length and / or complexity of the magnetic tape path, the tape may provide additional guide rollers or other types of guides, and preferably comprises a tape guide roller without a flange, such as a tape guide rollers 52 and 53.

[0039] 参考图3,如本领域中技术人员所知,诸如图2的辊50、51、52和53之类的无凸缘磁带引导件倾向于解决有凸缘磁带引导件的问题,但是,由于纵向磁带11在不受约束的情况下跨磁性带磁头65纵向地移动,磁带倾向于迅速从磁带磁头的一侧向另一侧移位,并且仅在磁带磁头的一侧上行进很短的时段。 [0039] Referring to FIG 3, as known to those skilled in the art, such as flangeless tape guides 51, 52 in FIG. 2 and the roller 53 tends to solve such a tape guide flange problem, but Since the magnetic tape 11 across the longitudinal direction in the case of unrestrained movement of the head 65 of the magnetic tape longitudinally, the tape tends to shift quickly from one side to the other side of the tape head, and only travels on one side of the tape head is very short period.

[0040] 仍然参考图3,纵向磁带11在图1的控制装置20的磁带运动控制器75的控制下, 由卷带马达15和16在卷盘12与卷盘14之间跨磁带磁头65移动。 [0040] Still referring to Figure 3, a longitudinal tape 11 under the control of the controller 20 of the tape motion control apparatus 75 of FIG. 1, roll 65 is moved by the motor 15 and the magnetic head 16 across the magnetic tape between the reel 12 and the tape reels 14 . 卷带马达受控于磁带运动控制器以各种速度进行操作,以确保磁性带介质以与其在一个卷盘上缠绕的速度相同的速度离开另一卷盘。 Tape reel motor is controlled by the motion controller operate at various speeds, to ensure that the magnetic tape medium speed thereto in a reel wound on the same speed as the reel away from the other. 磁带运动控制器还控制施加到每个驱动马达15和16上的扭矩,以便控制在磁带磁头65处施加到磁性带介质的拉力。 Tape motion controller also controls each drive motor torque to be applied on 15 and 16, so as to control the tension applied to the magnetic tape medium at the tape head 65.

[0041] 磁性带磁头65包括伺服读取磁头或传感器76,其感测记录在磁带11的伺服轨道68中的伺服图案。 [0041] The magnetic tape head 65 includes a servo read head or sensor 76, which senses the servo pattern recorded in a servo track 68 of the magnetic tape 11. 伺服读取磁头可以在磁头65的多个位置上包括多个伺服读取传感器, 并且伺服轨道68可以在跨磁带11的多个位置上包括若干个平行的伺服轨道。 The servo read head may comprise a plurality of servo read transducer, and servo track 68 may comprise a plurality of parallel servo tracks across the tape 11 at a plurality of positions on the plurality of position of the head 65. 如本领域中技术人员所理解,伺服轨道通常在纵向上延伸磁带的整个长度,并且作为磁带盒13的制造过程的一部分而被预录和定义。 As those skilled in the art will appreciate, the servo track generally extend the entire length of the tape in the longitudinal direction, and, as part of the manufacturing process of the tape cassette 13 are defined and pre-recorded. 可以包括若干个数据读取/写入换能器的数据磁头78被示为位于例如包含多个平行数据轨道的磁带的数据轨道区域18之上。 May include a plurality of data read / write data transducer head 78 is positioned as shown, for example, a tape comprising a plurality of parallel data tracks on the data track area 18. 如本领域中技术人员所理解,磁性带系统的定义的伺服轨道通常平行于数据轨道并偏离数据轨道。 As those skilled in the art will appreciate, magnetic tape system defined servo track generally parallel to and offset from a data track data tracks. 伺服轨道68图示为单线,例如为伺服轨道的中线,其足够宽以便允许单一伺服轨道或者一组轨道通过使伺服磁头从中线偏离而允许对各组数据轨道进行伺服。 The servo track 68 is illustrated as a single line, for example the servo track centerline, which is wide enough to allow a single servo track or set of tracks by the servo head from the centerline offset from each group to allow the servo data tracks.

[0042] 随着磁带11沿磁带路径纵向地移动,伺服读取头76将伺服信号线84上所提供的伺服信号读取到伺服解码器86。 [0042] As the tape 11 moves longitudinally along a tape path, the servo read head 76 reads the servo signals on a servo signal line 84 supplied to the servo decoder 86. 伺服解码器对接收到的伺服信号进行处理并且生成位置信号,该位置信号在位置信号线88上提供给伺服控制装置90。 Docking servo decoder processes the received servo signals and generates the position signal, the position signal to the servo position control means 90 on a signal line 88. 伺服控制装置90对搜寻信号作出响应以使复合式致动器17在伺服轨道之间移动,并且对位置信号作出响应以使致动器17跟随期望的伺服轨道。 Servo control means responsive to the scanning signal 90 to the composite actuator 17 moves between the servo tracks, and in response to the position signal to the actuator 17 to follow the desired servo track. 如上文所讨论,随着纵向磁带11跨磁性带磁头65纵向地移动, 磁带倾向于迅速从磁带磁头的一侧移位到另一侧,并且仅在磁带磁头的一侧上行进很短的时段。 As discussed above, the magnetic tape 11 with the longitudinal magnetic tape across the magnetic head 65 is moved longitudinally, the tape tends to shift quickly from one side to the other side of the tape head, and only travels a short side of the tape head in a period of . 磁带11的移位导致伺服轨道68在横向上的移位,这在图3中示为在横向移位极限77与横向移位极限79之间的移位,包括极限之间的横向移位偏移。 The tape 11 results in displacement of the shift servo track 68 in the lateral direction, which is shown in FIG. 3 as a shift between the lateral displacement and lateral displacement limit 77 limits 79, comprising a lateral displacement between the partial limit shift.

[0043] 参考图3、图4和图5,其图示了复合式致动器17的实施方式。 [0043] Referring to FIG 3, FIG 4 and FIG 5, which illustrates a hybrid actuator embodiment 17 of the embodiment. 致动器17包括安装磁性带磁头65的致动器臂32。 The actuator 17 comprises a magnetic tape head mounting arm 32 of the actuator 65. 粗致动器马达59驱动导螺杆36在垂直于底座55的垂直方向上移动孔隙44A处的精细致动器台44。 Coarse actuator motor 59 drives the lead screw 36 moves in a vertical direction perpendicular to the base 55 of the fine pores of the fine actuator 44A at the station 44. 提供孔隙44B用以容纳防旋销34,并且在壳体沈与台44之间提供负载弹簧48。 44B apertures provided for receiving an anti-rotation pin 34, and spring 48 provides a load between the housing and the table 44 Shen. 扭簧46固定到台44并且在其末端46A和46B处耦合到致动器臂32,使得台44在垂直方向上跨磁带移动安装在致动器臂32上的磁头65。 The torsion spring 46 is fixed to the stage 44 and coupled to the actuator arm 32, so that the tape is moved across the table 44 mounted on the actuator arm 32 of the head 65 in the vertical direction at its ends 46A and 46B.

[0044] 精细致动器线圈组60附接到致动器臂32的末端。 [0044] fine fine actuator coil set 60 is attached to the actuator end of the actuator arm 32. 线圈组60包括线圈架71、线圈72和芯轴(mandrel) 74。 Set 60 comprises a coil bobbin 71, the coil 72 and the mandrel (mandrel) 74. 线圈62具有上部72A和下部72B,并且安放在保持于磁体壳38中的磁体40A与40B之间,这些磁体被布置成大致在线70处分为南北两极。 A coil 62 having an upper portion 72A and lower portion 72B, and is held in place between the magnet 38 and the magnet housing 40A 40B, the magnets are arranged substantially line 70 dispose of north and south poles. 在对线圈72施加电流时线圈垂直地移动,并且使致动器臂32绕着扭簧46枢转并且横向于磁带11移动磁带磁头65,以便做出诸如在轨道跟随模式之中的微小调节。 When current is applied to the moving coil 72 of the coil perpendicularly, and the pivot 46 of the actuator arm 32 about the torsion spring and the magnetic tape 11 is moved transversely to the tape head 65, so as to make small adjustments in track following mode. [0045] 伺服控制装置90对位置信号作出响应以在线91上生成伺服控制信号以便操作精细致动器60跟随期望的伺服轨道,并且当精细致动器移动不足以应对完整移动,或者出于其他目的而需要大移动时,伺服控制装置90在线93上生成伺服控制信号以使粗致动器59 在期望的方向上移动精细致动器。 [0045] The servo control unit 90 is responsive to the position signal on line 91 generates a servo control signal for operating the fine actuator 60 to follow the fine desired servo track, and the fine actuator when the movement of the fine enough to cope with the full mobile, or for other when the object requires a large movement, the servo control device 90 generates a line on the servo control signal 93 to cause the actuator 59 moves the coarse fine fine actuator in a desired direction.

[0046] 本领域技术人员已知备选的复合式致动器,它们全都具有提供高带宽但行程范围有限的精细致动器和提供大工作动态范围的粗致动器这二者。 [0046] Alternatively, known to those skilled in the hybrid actuator, all of them having both high bandwidth but limited travel range and precision of the fine actuator providing a large working dynamic range of the coarse actuator.

[0047] 在图6中将伺服控制装置90的实施方式图示为伺服系统180的位置误差信号回路170的一部分。 [0047] The illustrated embodiment in the servo control apparatus 90 in FIG. 6 is a part of the position error signal loop servo system 180 170. 伺服系统的操作在合并于此的' 303专利中有详细讨论。 Operations of the servo system are discussed in detail in the incorporated '303 patent. 简而言之,由磁头65的伺服传感器76来感测伺服信号,并且由信号解码器86根据伺服信号检测伺服传感器相对于伺服轨道的位置。 Briefly, the magnetic head 65 by the servo transducer 76 to sense the servo signal, and the signal from the decoder 86 with respect to the servo track of the servo signal detecting servo sensor. 检测到的位置信号被提供于线88上,并且优选地包括数字信号。 Position detected signal is provided on line 88, and preferably comprises a digital signal. 继而,由比较器178将位置信号与参考信号177进行比较,以确定线179上的在读取与有关于定义的伺服轨道的期望位置之间的位置误差,该位置误差被称为位置误差信号,或者“PES”。 Then, the position signal 178 is compared with the reference signal by a comparator 177 to determine the read lines 179 and about position error between a desired position of the defined servo track, the position error is referred to as a position error signal or "PES".

[0048] 精细致动器伺服通常在位置误差信号回路中具有补偿器功能185,该补偿器功能185被设计用于支持具有充足稳定余量的最大带宽。 [0048] fine fine actuator servo compensator function 185 typically has a position error signal loop, the compensation function 185 is designed to support a maximum bandwidth with adequate stability margin. 补偿器功能185通过向PES信号施加可变增益来修改PES信号,该增益基于输入PES信号179的频率,或者从另一视角来看,基于输入PES信号的变化速率。 Compensator 185 by applying a variable gain function to modify the signal PES PES signal, from another perspective to the gain based on the rate of change of the frequency of the input signal PES 179, or based on the input signal PES.

[0049] 补偿器功能185包括积分器187和其他传递函数元件,诸如先导/滞后功能元件186,用以实现期望的静态与动态系统性能以及整体稳定性。 [0049] The function compensator 185 includes an integrator 187 and a transfer function other elements, such as the pilot / hysteresis function element 186 to the static and dynamic stability of the overall system performance and to achieve the desired. 每个元件可以实现为滤波器,可以是采用分立组件的模拟滤波器或者数字滤波器,诸如IIR(无限脉冲响应)或者FIR(有限脉冲响应),或者是致使微处理器执行功能的微代码。 Each element may be implemented as a filter, it may be an analog filter or a digital filter of discrete components, such as an IIR (Infinite Impulse Response) or FIR (finite impulse response), or cause a microprocessor to perform the functions of the microcode.

[0050] 积分器187提供响应200,该响应200 —般会随频率增加而减小增益。 [0050] The integrator 187 provides a response 200, the response 200 - as will decrease the gain with increasing frequency. 先导/滞后元件186提供响应201,该响应201在高频率上得到增强而在低频率上得到削减。 Pilot / lag element 186 providing a response 201, 201 this response is enhanced at high frequencies and at low frequencies to obtain cuts. 如本领域中技术人员所理解,组合响应205向精细致动器60提供同时具有高带宽与稳定性的伺服信号。 As those skilled in the art will appreciate, to provide a combined response 205 of the fine actuator 60 while the fine servo signal having a high bandwidth and stability. 数模转换器206和功率放大器207将该信号施加到精细致动器60。 Digital to analog converter 206 and a power amplifier 207 the signal is applied to the fine actuator 60 fine.

[0051] 积分器187对当前信号进行积分,用先前信号来对电流进行近似,并且因此对施加到精细致动器的力进行近似,以确定精细致动器PES的DC分量。 [0051] The integrator 187 integrates the current signal, a current approximated to a previous signal, and thus to fine the fine actuator force applied to the approximated, the fine actuator to determine the fine DC component of the PES. 备选的积分函数包括确定针对精细致动器的驱动电流的DC分量。 Alternatively integral function comprises a DC component for determining the drive current of the fine actuator precision. 连接200上的积分函数输出信号向驱动器211 提供积分控制信号,该驱动器211对粗致动器59进行驱动,从而操作粗致动器对精细致动器进行平移。 Integral function output signal on connection 200 provides integral control signal to the driver 211 of the driver 211 the coarse actuator 59 is driven so as to operate the coarse actuator to the fine actuator for fine translation. 如果粗致动器是步进马达,则驱动器211优选地为数字上-下逻辑和步进式驱动器。 If the coarse actuator is a stepping motor, the driver 211 is preferably digital - logic and the stepping drive. 因此,如果积分函数输出信号的绝对最大值大于绝对最小值,则驱动器211操作步进马达在朝向积分输出信号的最大值与最小值的中心的方向上步进。 Thus, if the absolute maximum value of the integral function of the output signal is greater than the absolute minimum, the operation of the stepping motor 211 drives the stepping direction toward the center of the maximum and minimum values ​​of the integrated output signal. 步进马达的步进可以带来精细致动器的例如3微米的线性平移。 Stepping the stepping motor can bring the fine fine actuator such as a linear translation of 3 microns. 备选地,如果粗致动器为模拟式,则驱动器211 可将数字信号转换成模拟的,并且运用功率放大器来操作粗致动器59。 Alternatively, if the coarse actuator is analog, the driver 211 may be a digital signal into an analog, and the use of the power amplifier to operate the coarse actuator 59.

[0052] 粗致动器还可由搜寻功能183来进行操作,该搜寻功能183将精细致动器从一个伺服轨道移动到另一伺服轨道。 [0052] The coarse actuator may also be operated by a search function 183, the search precision of the fine actuator 183 to the movement track from one servo track to the other servo.

[0053] 根据本发明,积分器的输出200还供应到移位控制装置220,该移位控制装置220 将粗致动器移动到特定位置并将其保持在此位置上。 [0053] According to the present invention, the output of the integrator 200 is also supplied to the shift control means 220, the shift control means 220 moves the coarse actuator to a specific position and held in this position.

[0054] 参考图6、图7、图8和图9,如上文所讨论,图2的无凸缘磁带引导件50、51、52和53倾向于解决有凸缘磁带引导件的问题,但是在不受限制的情况下,纵向磁带11倾向于迅速地从磁带引导件的一侧移位到另一侧,并且仅在引导件的一侧上行进很短的时段。 [0054] Referring to FIG 6, 7, 8 and 9, as discussed above, without the flanges of the tape guides 51, 52 and 53 of FIG. 2 with a flange tend to solve the problem tape guide member, but without being limiting, the longitudinal tape 11 tends to rapidly displaced from one side of the tape to the other side of the guide member, and only travels a short period of time on the side of the guide member. 该运动可能超过精细致动器60的一个方向上的范围以及超过粗致动器阈值中的一个或另一个。 A range in the direction 60 may exceed the fine motion of the fine actuator and the coarse actuator exceeds a threshold value actuator or the other. 因此,为了试图从一侧到另一侧跟随磁带,粗致动器59在跟随精细致动器60的移动的中线的过程中需要随着磁带迅速移位而从一侧到另一侧移动。 Accordingly, in order to attempt to follow the tape from one side of the other side, the coarse actuator 59 needs to be moved from side to side following the movement of the fine actuator fine line 60 with the magnetic tape during fast displacement. 这种运动倾向于损耗并缩短粗致动器的寿命,并且是粗致动器对功率的使用。 This movement and loss tends to shorten the life of the coarse actuator and the coarse actuator is used to power the actuators.

[0055] 在步骤MO中,磁带加载到图1的磁带驱动器10中,并且图3的磁带运动控制器75操作驱动马达15、16将磁带纵向地移动经过磁头65。 [0055] In step MO, a tape is loaded into the tape drive 10 of FIG. 1 and FIG. 3 of the tape motion controller 75 to operate the drive motors 15 and 16 to move the tape longitudinally past the head 65. 在图6、图7、图8和图9中,在步骤243中由信号解码器86从伺服传感器76获取伺服信号。 In FIG. 6, 7, 8 and 9, obtaining a servo signal from the servo sensor 76 in a step 243 by a signal decoder 86.

[0056] 在步骤M5中追踪伺服信号,并且积分器187有效地对代表施加到精细致动器的力的信号进行积分,并且如信号300所示,指示出伺服轨道相对于粗致动器的当前位置,例如最终达到“0”。 [0056] In integrating step M5, the signal tracking servo signals, and the integrator 187 effectively applied to the representative fine fine actuator force, and as shown in the signal 300, indicating that the servo track with respect to the coarse actuator current location, for example, and ultimately achieve "0." 在步骤250中,移位控制装置220从积分器确定位置误差信号的DC分量。 In step 250, shift control means 220 DC component determining position error signal from the integrator. 这个“0”位置是磁带11的横向移位的一个极限,例如图3的伺服轨道68的位置77。 The "0" position is a limit lateral displacement of the tape 11, for example, the position of the servo track 3 of FIG. 68, 77.

[0057] 随着磁带将伺服轨道68从如图7的信号300所示的一个横向移位极限77向图3 的相反横向移位极限79移位,PES如图7的信号302所示那样剧烈改变,并且由伺服系统操作精细致动器来跟随可能超过粗致动器阈值的在PES中的改变。 [0057] The servo track with the magnetic tape 68 from a lateral displacement limit 300 shown in FIG. 7 77 signal 79 displaced opposite lateral displacement limit to FIG. 3, PES signal 302 in FIG. 7 as shown severe changes, and changes may exceed the threshold of the coarse actuator by a servo system operator to follow the fine actuator refined in the PES. 仍然参考图6、图7、图8和图9,在步骤253中,积分器再次指示出伺服轨道相对于粗致动器的当前位置,并且确定如信号302所示的位置误差信号的DC分量,在步骤255中,移位控制装置220从积分器确定位置误差信号的DC分量。 Still referring to FIG. 6, FIG 7, FIG 8 and FIG 9, in step 253, the integrator again indicates the current position of the servo track with respect to the coarse actuator, and determines the position error signal 302 as shown in the DC component of the signal in step 255, shift control means 220 DC component of the integrator is determined from the position error signal. 在步骤257中,根据步骤250中DC分量与步骤255中当前DC 分量之间的差异,移位控制装置220确定作为磁带11的横向移位偏移的结果的、伺服轨道68从图3的位置77到位置79的横向移位偏移。 In step 257, a difference between the DC component in step 250 and in step 255 the DC component of the current, the shift control means 220 determines as a result of the lateral displacement of the magnetic tape 11 is offset, the servo track 68 from the position of FIG. 3 77 to 79 the lateral position of the shift offset.

[0058] 仍然参考图6、图7、图8和图9,在步骤260中,移位控制装置220确定定义的伺服轨道的横向移位偏移的中点,并且在步骤265中,对粗致动器59进行操作以便使粗致动器移位并将粗致动器基本上定位在定义的伺服轨道的横向移位偏移的图8的中点268上。 [0058] Still referring to FIG. 6, FIG 7, FIG 8 and FIG 9, in step 260, shift control means 220 determines the midpoint of the lateral displacement of the servo track is defined by an offset, and in step 265, the crude the actuator 59 is operated so that the displacement of the coarse actuator and the coarse actuator to a midpoint 268 positioned substantially laterally defined servo track of FIG. 8 shift offset.

[0059] 在步骤269中,移位控制装置220将粗致动器基本上保持在中点位置,并对位置误差信号回路和精细致动器进行操作以便减小所确定的位置误差。 [0059] In step 269, shift control device 220 to the coarse actuator remains substantially at the midpoint position, and the position error signal and the fine fine actuator circuit operates to reduce the determined position error. 在一个示例中,移位控制装置通过改变驱动器211的上-下逻辑的正阈值和负阈值而将粗致动器保持在中点位置上,从而使粗致动器在对伺服轨道的正常追踪情况下不被激活。 In one example, the shift control means by changing a drive 211 - the lower logical positive threshold and a negative threshold value, the coarse actuator is maintained at the midpoint position, so that the normal tracking servo track coarse actuator It is not activated by default. 因此,仅精细致动器60跟随横向移位偏移,而粗致动器则停留在中点处。 Accordingly, only the fine fine actuator 60 follows the lateral displacement deviation, and the coarse actuator is staying at the midpoint.

[0060] 在一个实施方式中,在图9的步骤270中将所确定的中点位置存储在存储器中,并且将所存储的中点位置与纵向磁带的标识相关联。 [0060] In one embodiment, the determined in step 270 in FIG. 9 midpoint stored in the memory, and the stored identification with the midpoint of the associated longitudinal tape. 例如,磁带标识包括图1的磁带盒13的标识。 For example, the tape cassette comprising a tape identification identifier 13 of FIG. 1. 因此,下次将磁带盒13加载到磁带驱动器10中并且在图9的步骤M3中获取伺服时,步骤280将会指示出已经存储了中点,并且步骤283对移位控制装置220进行初始化, 以便初始地将粗致动器定位在由所存储的中点位置所指示的位置上,从而使粗致动器免于在横向移位发现过程中进行大量活动。 Thus, the next time the cassette 13 is loaded into the tape drive 10 and the servo acquiring step M3 of FIG. 9, step 280 will indicate that the mid-point has been stored, and step 283 pairs of shift control device 220 is initialized, initially to the coarse actuator is positioned at the position indicated by the stored neutral position indicated on the coarse actuator so that the lateral displacement findings from a large number of activities in the process.

[0061] 中点位置可由伺服控制装置90、控制装置20来存储在盒的盒存储器中或者存储在主机系统上,用于对磁带的未来安装。 [0061] The neutral position by the servo control device 90, the control means 20 to store the memory cartridge or the cartridge stored on the host system, the magnetic tape for future installation. 该过程还可以在每次加载磁带时更新所存储的中点位置,以便确保任何改变都得到追踪。 The process can also update midpoint stored each time a tape is loaded, in order to ensure that any changes have been tracked.

[0062] 实现可以涉及软件、固件、微代码、硬件以及/或者其任何组合。 [0062] implementations may involve software, firmware, microcode, hardware, and / or any combination thereof. 实现可以采取在诸如存储器、存储和/或电路之类的控制装置20中的介质中实现的代码或逻辑的形式,其中介质可以包括:硬件逻辑(例如,集成电路芯片、可编程门阵列[PGA]、专用集成电路[ASIC],或者其他电路、逻辑或器件),或者计算机可读存储介质,诸如磁存储介质(例如,电子、磁、光、电磁、红外或者半导体系统、半导体或固态存储器、磁性带、可移动计算机盘,以及随机访问存储器[RAM]、只读存储器[ROM]、硬磁盘和光盘、压缩盘-只读存储器[CD-ROM]、压缩盘-读/ 写[CD-R/W]和DVD)。 May take the form implemented to code or logic implemented in a medium such as a memory 20, storage and / or control circuit device or the like, the medium which may include: hardware logic (e.g., an integrated circuit chip, Programmable Gate Array [the PGA ], application specific integrated circuit [an ASIC], or other circuitry, logic or device), or a computer-readable storage medium, such as magnetic storage media (e.g., electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, a semiconductor or solid state memory, magnetic tape, a removable computer diskette, a random access memory, and [the RAM], read only memory [a ROM], a rigid magnetic disk and an optical disk, compact disk - read only memory [CD-ROM], compact disk - read / write [CD-R / W] and DVD).

[0063] 本领域中技术人员将会理解,关于上文所讨论的方法可以做出各种改变,包括对步骤顺序的改变。 [0063] Those skilled in the art will appreciate that the methods discussed above regarding changes may be made, including changes to the order of steps. 此外,本领域中技术人员将会理解,可以采用与本文所示组件布置不同的特定组件布置。 Moreover, those skilled in the art will appreciate, components may be employed with the arrangement shown herein, different specific arrangement of components.

[0064] 尽管已经详细示例说明了本发明的优选实施方式,但是应当明白,本领域中技术人员可以对这些实施方式做出修改和改造,而不偏离在以下权利要求书中所阐述的本发明的范围。 [0064] While there has been described in detail preferred exemplary embodiments of the present invention, it is to be appreciated that those skilled in the art can make modifications and alterations to these embodiments without departing from the present invention as set forth in the following claims set forth range.

Claims (11)

  1. 1. 一种操作伺服系统的方法,用于对磁头进行横向定位以便跟随具有至少一个纵向定义的伺服轨道的纵向磁带的横向运动,所述伺服系统包括:伺服传感器,配置用于感测所述磁头相对于定义的伺服轨道的横向位置;精细致动器,配置用于相对于所述纵向磁带横向地平移所述磁头;粗致动器,配置用于相对于所述纵向磁带横向地平移所述精细致动器; 以及位置误差信号回路,配置用于感测所述伺服传感器,用于确定所述磁头与有关于所述至少一个定义的伺服轨道的期望位置之间的位置误差,以及用于操作所述精细致动器以按照使所述确定的位置误差减小的方式横向地平移所述磁头,该方法包括:从所述位置误差信号回路感测所述至少一个定义的伺服轨道的横向移位偏移;以及操作所述粗致动器以将所述粗致动器基本上定位在所述至少一个定义的伺 1. A method of operating a servo system for positioning of the head in order to follow the lateral movement of the lateral longitudinal tape having a servo track defined by at least one longitudinal, said servo system comprising: a servo sensor, configured to sense the lateral position of the head relative to the servo track defined; fine fine actuator configured to translate relative to the longitudinal direction of said magnetic tape head laterally; coarse actuator configured to laterally translate the magnetic tape longitudinally with respect to the said fine fine actuator; and a position error signal circuit, configured to sense said servo sensor for determining a position error between a desired position of the head with respect to servo track has at least one defined, and with the precision of the fine actuator to operate in the manner according to the determined position error decreases laterally translate the magnetic head, the method comprising: servo track error from the position sensing signal of the sensing circuit at least one defined offset laterally displaced; wait and operating the coarse actuator to the coarse actuator is positioned at least substantially defined by a 服轨道的所述横向移位偏移的中点处。 Lateral displacement of the track serving midpoint offset.
  2. 2.根据权利要求1所述的方法,其中所述感测步骤包括感测由所述位置误差信号回路在操作所述精细致动器以横向平移所述磁头的过程中所采用的电流信号,以便感测所述至少一个定义的伺服轨道的所述横向移位偏移。 2. The method according to claim 1, wherein said sensing step comprises sensing the position error signal by a loop in the fine operating the fine actuator to translate the magnetic head laterally current employed during signal, to sense the at least one defined servo track in transverse shift offset.
  3. 3.根据权利要求2所述的方法,其中所述感测步骤包括感测由所述位置误差信号回路在操作所述精细致动器以横向平移所述磁头的过程中所采用的位置误差信号的积分函数。 3. The method according to claim 2, wherein said sensing step comprises sensing the position error signal from the position error signal loop operation to the finishing of the fine actuator during lateral translation of the head employed in the integral function.
  4. 4.根据权利要求1至3中任一项所述的方法,其中用无凸缘磁带引导件相对于所述磁头引导所述磁带,使得所述横向移位偏移大于所述精细致动器的单向行程,并且其中所述粗致动器操作步骤包括操作所述粗致动器以对所述粗致动器进行定位从而使所述精细致动器能够到达所述至少一个定义的伺服轨道的所述横向移位偏移的全部两侧。 4. A method according to any one of claims 1 to 3, wherein the flange-free tape guide member guiding the head relative to the magnetic tape, such that the lateral offset is larger than the fine displacement of the fine actuator one-way travel, and wherein said coarse actuator operating step comprises operating said coarse actuator to the coarse actuator such that the fine positioning of the fine actuator servo can reach the at least one defined the track offset laterally displaced all sides.
  5. 5.根据任一前述权利要求所述的方法,附加地包括存储所述纵向磁带的所述确定的横向移位偏移的所述确定的中点位置;以及将所述存储的中点位置与所述纵向磁带的标识相关联。 5. The method according to any preceding claim, additionally comprising a neutral position of the shift offset laterally determining the longitudinal tape storing the determining; and the neutral position and the stored the longitudinal tape identification is associated.
  6. 6. 一种伺服系统,配置用于相对于纵向磁带的至少一个定义的伺服轨道横向地定位磁头,该伺服系统包括:伺服传感器,用于感测所述磁头相对于所述纵向磁带的至少一个定义的伺服轨道的横向位置;精细致动器,配置用于相对于所述纵向磁带横向地平移所述磁头;粗致动器,配置用于相对于所述纵向磁带横向地平移所述精细致动器;以及伺服控制装置,配置用于:感测所述伺服传感器;确定所述磁头与有关于所述至少一个定义的伺服轨道的期望位置之间的位置误差;提供信号以便操作所述精细致动器以按照使所述确定的位置误差减小的方式横向地平移所述磁头;根据所述提供的信号来感测所述至少一个定义的伺服轨道的横向移位偏移;以及操作所述粗致动器以将所述粗致动器基本上定位在所述至少一个定义的伺服轨道的所述横向移位偏移的中点 A servo system is configured with respect to at least one defined servo track longitudinal tape transversely positioning the head, the servo system comprising: a servo sensor for sensing the magnetic head with respect to said at least one longitudinal tape lateral position of the servo track defined; fine fine actuator configured to laterally translate the magnetic tape longitudinally with respect to said magnetic head; coarse actuator configured to translate laterally with respect to the fine detail of the longitudinal tape actuator; and a servo control means configured to: sense a servo sensor; determining positional error between the magnetic head and the desired position about the at least one servo track defined; providing a signal to operate said fine fine actuator in a manner in accordance with the determined position error decreases laterally translate the magnetic head; to sense lateral shift offset servo track of said at least one measurement signal according to the definition provided; and operation the midpoint of said coarse actuator to the coarse actuator is positioned substantially at said at least one defined servo track a lateral shift offset .
  7. 7.根据权利要求6所述的伺服系统,其中所述感测到的提供的信号包括用以操作所述精细致动器以横向地平移所述磁头的电流信号。 7. The servo system according to claim 6, wherein the sensed signal is provided to the sensing operation comprises finishing the translation of the fine actuator current signal to the magnetic head laterally.
  8. 8.根据权利要求6或者权利要求7所述的伺服系统,其中所述感测到的提供的信号包括用来操作所述精细致动器以横向地平移所述磁头的位置误差信号的积分函数。 According to claim 6 or claim 7, said servo system, wherein the sensing signals include fine for operating the fine actuator position error signal integral function to laterally translate the magnetic head .
  9. 9.根据权利要求6至8中任一项所述的伺服系统,其中用无凸缘磁带引导件相对于所述磁头引导所述磁带,使得所述横向移位偏移大于所述精细致动器的单向行程,并且其中所述伺服控制装置被配置用于操作所述粗致动器以对所述粗致动器进行定位从而使所述精细致动器能够到达所述至少一个定义的伺服轨道的所述横向移位偏移的全部两侧。 9. The servo system 6-1 according to any of claim 8, wherein the flange-free tape guide member guiding the head relative to the magnetic tape, such that the lateral offset is larger than the fine displacement of the fine actuator way trip device, and wherein said servo control means is configured to operate the coarse actuator to the coarse actuator such that the fine positioning of the fine actuator to reach said at least one defined the servo track is displaced laterally offset all sides.
  10. 10.根据权利要求6至9中任一项所述的伺服系统,附加地配置用于存储所述纵向磁带的所述确定的横向移位偏移的所述确定的中点位置;以及将所述存储的中点位置与所述纵向磁带的标识相关联。 10.6 to 9 servo system as claimed in any of claims additionally configured for the midpoint of the lateral shift offset storing said determined longitudinal tape determined; and the said stored location identification with the midpoint of the associated longitudinal tape.
  11. 11. 一种数据存储驱动器,包括:磁头,配置用于在纵向磁带数据存储介质上记录和读取数据;驱动器,配置用于相对于所述磁头在纵向上移动所述纵向磁带数据存储介质;以及根据权利要求6至10中任一项所述的伺服系统。 11. A data storage drive comprising: a head configured to record and read data on a magnetic tape data storage medium longitudinal direction; a driver configured to move the magnetic head relative to said longitudinal magnetic tape data storage medium in a longitudinal direction; and a servo system according to any one of claims 6-10 in any one.
CN 201080048970 2009-11-04 2010-08-31 Servo system and method for operating servo system CN102598129B (en)

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US12612403 US8027121B2 (en) 2009-11-04 2009-11-04 Positioning coarse servo actuator of tape servo system to allow fine servo actuator to follow tape shift excursions
PCT/EP2010/062750 WO2011054558A1 (en) 2009-11-04 2010-08-31 Positioning coarse servo actuator of tape servo system to allow fine servo actuator to follow tape shift excursions

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